Represents the wheel speeds for a mecanum drive drivetrain. More...

#include <frc/kinematics/MecanumDriveWheelSpeeds.h>

Public Member Functions
void	Desaturate (units::meters_per_second_t attainableMaxSpeed)
	Renormalizes the wheel speeds if any individual speed is above the specified maximum. More...

Public Attributes
units::meters_per_second_t	frontLeft = 0_mps
	Speed of the front-left wheel. More...

units::meters_per_second_t	frontRight = 0_mps
	Speed of the front-right wheel. More...

units::meters_per_second_t	rearLeft = 0_mps
	Speed of the rear-left wheel. More...

units::meters_per_second_t	rearRight = 0_mps
	Speed of the rear-right wheel. More...

Detailed Description

Represents the wheel speeds for a mecanum drive drivetrain.

Member Function Documentation

◆ Desaturate()

void frc::MecanumDriveWheelSpeeds::Desaturate ( units::meters_per_second_t attainableMaxSpeed )

Renormalizes the wheel speeds if any individual speed is above the specified maximum.

Sometimes, after inverse kinematics, the requested speed from one or more wheels may be above the max attainable speed for the driving motor on that wheel. To fix this issue, one can reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while maintaining the ratio of speeds between wheels.

Parameters

attainableMaxSpeed The absolute max speed that a wheel can reach.

Member Data Documentation

◆ frontLeft

units::meters_per_second_t frc::MecanumDriveWheelSpeeds::frontLeft = 0_mps

Speed of the front-left wheel.

◆ frontRight

units::meters_per_second_t frc::MecanumDriveWheelSpeeds::frontRight = 0_mps

Speed of the front-right wheel.

◆ rearLeft

units::meters_per_second_t frc::MecanumDriveWheelSpeeds::rearLeft = 0_mps

Speed of the rear-left wheel.

◆ rearRight

units::meters_per_second_t frc::MecanumDriveWheelSpeeds::rearRight = 0_mps

Speed of the rear-right wheel.

The documentation for this struct was generated from the following file:

frc/kinematics/MecanumDriveWheelSpeeds.h

Public Member Functions

Public Attributes